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1. State-Based Recurrent SPMNs for Decision-Theoretic Planning under Partial Observability

   https://doi.org/10.24963/ijcai.2021/348  

   Hayes, Layton ; Doshi, Prashant ; Pawar, Swaraj ; Tatavarti, Hari Teja ( August 2021 , Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence. Main Track.)

   The sum-product network (SPN) has been extended to model sequence data with the recurrent SPN (RSPN), and to decision-making problems with sum-product-max networks (SPMN). In this paper, we build on the concepts introduced by these extensions and present state-based recurrent SPMNs (S-RSPMNs) as a generalization of SPMNs to sequential decision-making problems where the state may not be perfectly observed. As with recurrent SPNs, S-RSPMNs utilize a repeatable template network to model sequences of arbitrary lengths. We present an algorithm for learning compact template structures by identifying unique belief states and the transitions between them through a state matching process that utilizes augmented data. In our knowledge, this is the first data-driven approach that learns graphical models for planning under partial observability, which can be solved efficiently. S-RSPMNs retain the linear solution complexity of SPMNs, and we demonstrate significant improvements in compactness of representation and the run time of structure learning and inference in sequential domains.

    

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2. Deep Reinforcement Learning for Sequence-to-Sequence Models

   https://doi.org/10.1109/TNNLS.2019.2929141  

   Keneshloo, Yaser ; Shi, Tian ; Ramakrishnan, Naren ; Reddy, Chandan K. ( July 2020 , IEEE Transactions on Neural Networks and Learning Systems)

   In recent times, sequence-to-sequence (seq2seq) models have gained a lot of popularity and provide stateof-the-art performance in a wide variety of tasks, such as machine translation, headline generation, text summarization, speech-to-text conversion, and image caption generation. The underlying framework for all these models is usually a deep neural network comprising an encoder and a decoder. Although simple encoder–decoder models produce competitive results, many researchers have proposed additional improvements over these seq2seq models, e.g., using an attention-based model over the input, pointer-generation models, and self-attention models. However, such seq2seq models suffer from two common problems: 1) exposure bias and 2) inconsistency between train/test measurement. Recently, a completely novel point of view has emerged in addressing these two problems in seq2seq models, leveraging methods from reinforcement learning (RL). In this survey, we consider seq2seq problems from the RL point of view and provide a formulation combining the power of RL methods in decision-making with seq2seq models that enable remembering long-term memories. We present some of the most recent frameworks that combine the concepts from RL and deep neural networks. Our work aims to provide insights into some of the problems that inherently arise with current approaches and how we can address them with better RL models. We also provide the source code for implementing most of the RL models discussed in this paper to support the complex task of abstractive text summarization and provide some targeted experiments for these RL models, both in terms of performance and training time. 

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3. Decision Making in Non-Stationary Environments with Policy-Augmented Monte Carlo Tree Search

   Pettet, Geoffrey ; Mukhopadhyay, Ayan ; Dubey, Abhishek ( January 2022 , The Multi-disciplinary Conference on Reinforcement Learning and Decision Making)

   Decision-making under uncertainty (DMU) is present in many important problems. An open challenge is DMU in non-stationary environments, where the dynamics of the environment can change over time. Reinforcement Learning (RL), a popular approach for DMU problems, learns a policy by interacting with a model of the environment offline. Unfortunately, if the environment changes the policy can become stale and take sub-optimal actions, and relearning the policy for the updated environment takes time and computational effort. An alternative is online planning approaches such as Monte Carlo Tree Search (MCTS), which perform their computation at decision time. Given the current environment, MCTS plans using high-fidelity models to determine promising action trajectories. These models can be updated as soon as environmental changes are detected to immediately incorporate them into decision making. However, MCTS’s convergence can be slow for domains with large state-action spaces. In this paper, we present a novel hybrid decision-making approach that combines the strengths of RL and planning while mitigating their weaknesses. Our approach, called Policy Augmented MCTS (PA-MCTS), integrates a policy’s actin-value estimates into MCTS, using the estimates to seed the action trajectories favored by the search. We hypothesize that PA-MCTS will converge more quickly than standard MCTS while making better decisions than the policy can make on its own when faced with nonstationary environments. We test our hypothesis by comparing PA-MCTS with pure MCTS and an RL agent applied to the classical CartPole environment. We find that PC-MCTS can achieve higher cumulative rewards than the policy in isolation under several environmental shifts while converging in significantly fewer iterations than pure MCTS. 

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4. Learning an Adaptive Forwarding Strategy for Mobile Wireless Networks: Resource Usage vs. Latency

   Manfredi, Victoria ; Wolfe, Alicia P. ; Zhang, Xiaolan ; Wang, Bing ( December 2022 , Reinforcement Learning for Real Life (RL4RealLife) Workshop in the 36th Conference on Neural Information Processing Systems (NeurIPS))

   Mobile wireless networks present several challenges for any learning system, due to uncertain and variable device movement, a decentralized network architecture, and constraints on network resources. In this work, we use deep reinforcement learning (DRL) to learn a scalable and generalizable forwarding strategy for such networks. We make the following contributions: i) we use hierarchical RL to design DRL packet agents rather than device agents, to capture the packet forwarding decisions that are made over time and improve training efficiency; ii) we use relational features to ensure generalizability of the learned forwarding strategy to a wide range of network dynamics and enable offline training; and iii) we incorporate both forwarding goals and network resource considerations into packet decision-making by designing a weighted DRL reward function. Our results show that our DRL agent often achieves a similar delay per packet delivered as the optimal forwarding strategy and outperforms all other strategies including state-of-the-art strategies, even on scenarios on which the DRL agent was not trained. 

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5. Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning

   Guillermo A. Castillo, Bowen Weng ( May 2024 , IEEE International Conference on Robotics and Automation)

   This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy. The framework utilizes an autoencoder to learn a low-dimensional latent space that captures the complex dynamics of bipedal locomotion from existing locomotion data. This reduced dimensional state representation is then used as states for training a robust RL-based gait policy, eliminating the need for heuristic state selections or the use of template models for gait planning. The results demonstrate that the learned latent variables are disentangled and directly correspond to different gaits or speeds, such as moving forward, backward, or walking in place. Compared to traditional template model-based approaches, our framework exhibits superior performance and robustness in simulation. The trained policy effectively tracks a wide range of walking speeds and demonstrates good generalization capabilities to unseen scenarios. 

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